Rapid Planning Method for Robot Assited Minimally Invasive Surgery
The traditional space mapping and surgical planning method for surgery are time-consuming, and the accuracy of positioning is not high. This paper aims to present a practical and fast way for planning. In the session of visual orientation for spatial location, MicronTracker camera and self-calibration template are used for positioning; in the session of tracking and locating for four markers on patient and robots template, the coordinates of them are extracted automatically; in the session of DICOM medical image processing, the contour of the tumor is extracted automatically, in terms of the seed filling algorithm, contour tracking algorithm and the Bspline fitting function. Coordinates transformation from the image space to the camera space and to the robot space can be completed rapidly and precisely through this method. Experimental results show that the traditional from 25 to 30 minutes planning time for the entire operation can be reduced to 5 minutes; the space mapping accuracy can be improved from the traditional 5mm to 4mm now.
Space Mapping Computer Assisted Surgery Robot system Surgical Planning Contour Extraction
Yanhua Cheng Chun Gong Can Tang Jianwei Zhang Sheng Cheng
Kunshan Industrial Technology Research Institute, Jiangsu, P.R.China
国际会议
无锡
英文
532-540
2010-09-17（万方平台首次上网日期，不代表论文的发表时间）